What if you have a lot of experience in lucid dreaming, with good recall, control and whatnot. Would it be possible for someone to make a friend, be it someone from real life or someone you make up, that would be in lucid dreams?

My thought is this: attain lucidity, then think of the person and get him/her to appear, then that person can accompany you on the insanely awesome adventures in the dreams. Heck, the person may even act as a catalyst for entering lucidity, should he/she be in a non-lucid dream.

I understand this may be a bit of a stretch of imagination, but could it be done?